MYNT-EYE-S-SDK/samples/tutorials/util/pc_viewer.h

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// Copyright 2018 Slightech Co., Ltd. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
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#ifndef MYNTEYE_TUTORIALS_PC_VIEWER_H_ // NOLINT
#define MYNTEYE_TUTORIALS_PC_VIEWER_H_
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#pragma once
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#include <memory>
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#include <opencv2/core/core.hpp>
#include <pcl/visualization/pcl_visualizer.h>
class PCViewer {
public:
PCViewer();
~PCViewer();
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void Update(const cv::Mat &xyz);
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void Update(pcl::PointCloud<pcl::PointXYZ>::ConstPtr pc);
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bool WasVisual() const;
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bool WasStopped() const;
private:
void ConvertMatToPointCloud(
const cv::Mat &xyz, pcl::PointCloud<pcl::PointXYZ>::Ptr pc);
std::shared_ptr<pcl::visualization::PCLVisualizer> viewer_;
};
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#endif // MYNTEYE_TUTORIALS_PC_VIEWER_H_ NOLINT